We use drivable region to correct the visual odometry drift for driveless vehicle. The assumations are that 1. the camera height is fixed and known; 2. the vehicle are not likely drive out of road region.
- Eigen
- install eigen https://gitlab.com/libeigen/eigen (for mac, try brew install eigen)
- configure eigen include path and lib path in CMakeLists
- g2o
- build from source https://github.com/RainerKuemmerle/g2o
- remember
make install
- pybind11
- https://github.com/pybind/pybind11
- just put it on project folder
mkdir build
cd build
cmake ..
make
then you got a python lib in lib older which you can import use use by python
cp lib/vocorrection.cpython-xxx.so script/
python script/demo.py
import vocorrection as vs
# fx,fy are focus length, cx,cy are optical center
# wc,hc are vehilce width and camera height
vco = vc.EgoMotionCorrection(fx,fy,cx,cy,wc,hc)
# path correction
# path [n,3] position relative to initial camera frame
# lamda [n] information paramter, set larger if you trust a motion more
# fa,fb,fc right side road edge function f(u,v)=fa*v*v+fb*v+fc-u
# return corrected path [n,3]
path_c = vco.correct(path,lamdas,fa,fb,fc)
path correct result when lamda is 1
path correct result when lamda is 10
path correct result when lamda is 10
path correct result when lamda is 100
